public void WrapActionSections(string type)
{
string wrapperName = inFileName + "Action" + type + MsgAutoGenUtilities.ActionClassSuffix;
string msgName = inFileName + type + MsgAutoGenUtilities.ActionClassSuffix;
string outPath = Path.Combine(this.outPath, wrapperName + ".cs");
string imports =
"using System.Collections.Generic;\n" +
"using Unity.Robotics.ROSTCPConnector.MessageGeneration;\n" +
"using RosMessageTypes.Std;\n" +
"using RosMessageTypes.Actionlib;\n\n";
symbolTable = new Dictionary <string, string>();
using (StreamWriter writer = new StreamWriter(outPath, false))
{
// Write imports
writer.Write(imports);
// Write namespace
writer.Write(
"namespace RosMessageTypes." + MsgAutoGenUtilities.ResolvePackageName(rosPackageName) + "\n" +
"{\n"
);
// Write class declaration
writer.Write(
ONE_TAB + "public class " + wrapperName + " : Action" + type + "<" + msgName + ">\n" +
ONE_TAB + "{\n"
);
// Write ROS package name
writer.Write(
TWO_TABS + "public const string k_RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + type + "\";\n" +
TWO_TABS + "public override string RosMessageName => k_RosMessageName;\n\n"
);
// Record goal/result/feedback declaration
symbolTable.Add(MsgAutoGenUtilities.LowerFirstLetter(type), msgName);
writer.Write("\n");
// Write default value constructor
writer.Write(GenerateDefaultValueConstructor(wrapperName) + "\n");
// Write parameterized constructor
writer.Write(GenerateParameterizedConstructor(wrapperName, type));
writer.Write(GenerateDeserializerConstructor(wrapperName));
writer.Write(GenerateSerializationStatements(type));
// Close class
writer.Write(ONE_TAB + "}\n");
// Close namespace
writer.Write("}\n");
}
}
public static List <string> GenerateSingleAction(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
{
// If no ROS package name is provided, extract from path
if (rosPackageName.Equals(""))
{
string[] hierarchy = inPath.Split(new char[] { '/', '\\' });
rosPackageName = hierarchy[hierarchy.Length - 3];
}
outPath = Path.Combine(outPath, MsgAutoGenUtilities.ResolvePackageName(rosPackageName));
string inFileName = Path.GetFileNameWithoutExtension(inPath);
if (verbose)
{
Console.WriteLine("Parsing: " + inPath);
Console.WriteLine("Output Location: " + outPath);
}
MessageTokenizer tokenizer = new MessageTokenizer(inPath, new HashSet <string>(MsgAutoGenUtilities.builtInTypesMapping.Keys));
List <List <MessageToken> > listsOfTokens = tokenizer.Tokenize();
if (listsOfTokens.Count != 3)
{
throw new MessageParserException("Unexpected number of sections. Action should have 3 sections.");
}
List <string> warnings = new List <string>();
ActionWrapper actionWrapper = new ActionWrapper(inPath, rosPackageName, outPath);
for (int i = 0; i < listsOfTokens.Count; i++)
{
List <MessageToken> tokens = listsOfTokens[i];
// Action is made up of goal, result, feedback
string className = inFileName + types[i];
// Parse and generate goal, result, feedback messages
MessageParser parser = new MessageParser(tokens, outPath, rosPackageName, "action", MsgAutoGenUtilities.builtInTypesMapping, MsgAutoGenUtilities.builtInTypesDefaultInitialValues, MsgAutoGenUtilities.numericTypeDeserializationFunctions, MsgAutoGenUtilities.numericTypeByteSize, className);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
// Generate action section wrapper messages
actionWrapper.WrapActionSections(types[i]);
}
// Generate action wrapper
actionWrapper.WrapAction();
return(warnings);
}
public static List <string> GenerateSingleService(string inPath, string outPath, string rosPackageName = "", bool verbose = false)
{
// If no ROS package name is provided, extract from path
if (rosPackageName.Equals(""))
{
string[] hierarchy = inPath.Split(new char[] { '/', '\\' });
rosPackageName = hierarchy[hierarchy.Length - 3];
}
outPath = Path.Combine(outPath, MsgAutoGenUtilities.ResolvePackageName(rosPackageName));
string inFileName = Path.GetFileNameWithoutExtension(inPath);
if (verbose)
{
Console.WriteLine("Parsing: " + inPath);
Console.WriteLine("Output Location: " + outPath);
}
MessageTokenizer tokenizer = new MessageTokenizer(inPath, new HashSet <string>(MsgAutoGenUtilities.builtInTypesMapping.Keys));
List <List <MessageToken> > listsOfTokens = tokenizer.Tokenize();
if (listsOfTokens.Count != 2)
{
throw new MessageParserException("Unexpected number of sections. Service should have 2 sections.");
}
List <string> warnings = new List <string>();
for (int i = 0; i < listsOfTokens.Count; i++)
{
List <MessageToken> tokens = listsOfTokens[i];
// Service is made up of request and response
string className = inFileName + MsgAutoGenUtilities.ServiceClassSuffix + types[i];
MessageParser parser = new MessageParser(
tokens,
outPath,
rosPackageName,
"srv",
MsgAutoGenUtilities.builtInTypesMapping,
MsgAutoGenUtilities.builtInTypesDefaultInitialValues,
className,
subtopic: i == 0 ? MessageSubtopic.Default : MessageSubtopic.Response);
parser.Parse();
warnings.AddRange(parser.GetWarnings());
}
return(warnings);
}
public MessageParser(List <MessageToken> tokens, string outPath, string rosPackageName, string type, Dictionary <string, string> builtInTypeMapping, Dictionary <string, string> builtInTypesDefaultInitialValues, string className = "", string rosMsgName = "", MessageSubtopic subtopic = MessageSubtopic.Default)
{
this.tokens = tokens;
this.inFilePath = tokens[0].content;
this.inFileName = Path.GetFileNameWithoutExtension(inFilePath);
this.rosPackageName = rosPackageName;
this.rosPackageNamespace = MsgAutoGenUtilities.ResolvePackageName(rosPackageName);
this.subtopic = subtopic;
if (className.Equals(""))
{
this.className = MsgAutoGenUtilities.CapitalizeFirstLetter(inFileName) + MsgAutoGenUtilities.MessageClassSuffix;
}
else
{
this.className = className;
}
if (rosMsgName.Equals(""))
{
if (Char.IsLower(inFileName[0]))
{
Debug.LogWarningFormat("File {0} starts with a lowercase character. Message file names should be PascalCased (see : http://wiki.ros.org/ROS/Patterns/Conventions#line-38)", inFileName);
}
this.rosMsgName = inFileName;
}
else
{
this.rosMsgName = rosMsgName;
}
this.outPath = outPath;
this.outFilePath = Path.Combine(outPath, type);
this.tokens.RemoveAt(0);
this.builtInTypeMapping = builtInTypeMapping;
this.builtInTypesDefaultInitialValues = builtInTypesDefaultInitialValues;
}
// Declaration -> BuiltInType Identifier | BuiltInType Identifier ConstantDeclaration | BuiltInType ArrayDeclaration Identifier
// Declaration -> DefinedType Identifier | DefinedType ArrayDeclaration Identifier
// Declaration -> Header Identifier
private void Declaration()
{
string declaration = "";
// Type
MessageToken peeked = Peek();
string type = "";
bool canHaveConstDecl = false;
declaration += MsgAutoGenUtilities.TWO_TABS + "public ";
if (PeekType(MessageTokenType.BuiltInType))
{
type = builtInTypeMapping[MatchByType(MessageTokenType.BuiltInType)];
if (type == "TimeMsg" || type == "DurationMsg")
{
// Need to import BuiltinInterfaces
imports.Add("BuiltinInterfaces");
}
else
{
// Time and Duration can't have constant declaration
// See <wiki.ros.org/msg>
canHaveConstDecl = true;
}
}
else if (PeekType(MessageTokenType.DefinedType))
{
type = MatchByType(MessageTokenType.DefinedType);
string[] hierarchy = type.Split(new char[] { '/', '\\' });
// Assume type can only be either:
// Type
// package/Type
switch (hierarchy.Length)
{
case 1:
type = type + MsgAutoGenUtilities.MessageClassSuffix;
break;
case 2:
if (hierarchy[0].Equals("") || hierarchy[1].Equals(""))
{
throw new MessageParserException(
"Invalid field type '" + type + "'. + " +
"(" + inFilePath + ":" + lineNum + ")");
}
string package = MsgAutoGenUtilities.ResolvePackageName(hierarchy[0]);
// Do not add package name if exists in current namespace
type = package.Equals(rosPackageNamespace) ? hierarchy[1] + MsgAutoGenUtilities.MessageClassSuffix :
package + "." + hierarchy[1] + MsgAutoGenUtilities.MessageClassSuffix;
break;
default:
throw new MessageParserException(
"Invalid field type '" + type + "'. + " +
"(" + inFilePath + ":" + lineNum + ")");
}
}
else
{
type = MatchByType(MessageTokenType.Header) + MsgAutoGenUtilities.MessageClassSuffix;
if (PeekType(MessageTokenType.FixedSizeArray) || PeekType(MessageTokenType.VariableSizeArray))
{
Warn(
"By convention, there is only one header for each message." +
"(" + inFilePath + ":" + lineNum + ")");
}
if (PeekType(MessageTokenType.Identifier) && !Peek().content.Equals("header"))
{
Warn(
"By convention, a ros message Header will be named 'header'. '"
+ Peek().content + "'. (" + inFilePath + ":" + lineNum + ")");
}
imports.Add("Std");
}
// Array Declaration
int arraySize = -1;
if (PeekType(MessageTokenType.FixedSizeArray))
{
type += "[]";
canHaveConstDecl = false;
arraySize = int.Parse(MatchByType(MessageTokenType.FixedSizeArray));
}
if (PeekType(MessageTokenType.VariableSizeArray))
{
type += "[]";
canHaveConstDecl = false;
MatchByType(MessageTokenType.VariableSizeArray);
arraySize = 0;
}
// Identifier
string identifier = MatchByType(MessageTokenType.Identifier);
// Check for duplicate declaration
if (symbolTable.ContainsKey(identifier))
{
throw new MessageParserException(
"Field '" + identifier +
"' at " + inFilePath + ":" + lineNum +
" already declared!");
}
// Check if identifier is a ROS message built-in type
if (builtInTypeMapping.ContainsKey(identifier))
{
throw new MessageParserException(
"Invalid field identifier '" + identifier +
"' at " + inFilePath + ":" + lineNum +
". '" + identifier + "' is a ROS message built-in type.");
}
// Check if identifier is a C# keyword
if (MsgAutoGenUtilities.k_CSharpKeywords.Contains(identifier))
{
Warn(
"'" + identifier + "' is a C# keyword. It can be accessed under the name @" + identifier + "." +
"(" + inFilePath + ":" + lineNum + ")");
identifier = "@" + identifier;
}
symbolTable.Add(identifier, type);
// Array declaration table
if (arraySize > -1)
{
arraySizes.Add(identifier, arraySize);
}
// Constant Declaration
if (PeekType(MessageTokenType.ConstantDeclaration))
{
if (canHaveConstDecl)
{
declaration += "const " + type + " " + identifier + " = ";
declaration += ConstantDeclaration(type);
constants.Add(identifier);
}
else
{
throw new MessageParserException(
"Type " + type +
"' at " + inFilePath + ":" + lineNum +
" cannot have constant declaration");
}
}
else if (PeekType(MessageTokenType.DefaultValueDeclaration))
{
declaration += $"{type} {identifier} = {DefaultValueDeclaration(type)}";
defaultValues.Add(identifier);
}
else
{
declaration += type + " " + identifier + ";\n";
}
body += declaration;
}
public static string GetMessageOutFolder(string outPath, string rosPackageName)
{
return(Path.Combine(outPath, MsgAutoGenUtilities.ResolvePackageName(rosPackageName)));
}
public void WrapAction()
{
string msgNamePrefix = inFileName + MsgAutoGenUtilities.ActionClassSuffix;
string className = msgNamePrefix + "Action";
string type = "wrapper";
string outPath = Path.Combine(this.outPath, className + ".cs");
string imports =
"using System.Collections.Generic;\n" +
"using Unity.Robotics.ROSTCPConnector.MessageGeneration;\n" +
"\n\n";
symbolTable = new Dictionary <string, string>();
using (StreamWriter writer = new StreamWriter(outPath, false))
{
// Write imports
writer.Write(imports);
// Write namespace
writer.Write(
"namespace RosMessageTypes." + MsgAutoGenUtilities.ResolvePackageName(rosPackageName) + "\n" +
"{\n"
);
// Write class declaration
string[] genericParams = new string[] {
msgNamePrefix + "ActionGoal",
msgNamePrefix + "ActionResult",
msgNamePrefix + "ActionFeedback",
msgNamePrefix + "Goal",
msgNamePrefix + "Result",
msgNamePrefix + "Feedback"
};
writer.Write(
ONE_TAB + "public class " + className + " : Action<" + string.Join(", ", genericParams) + ">\n" +
ONE_TAB + "{\n"
);
// Write ROS package name
writer.Write(
TWO_TABS + "public const string k_RosMessageName = \"" + rosPackageName + "/" + inFileName + "Action" + "\";\n" +
TWO_TABS + "public override string RosMessageName => k_RosMessageName;\n\n"
);
// Record variables
// Action Goal
symbolTable.Add("action_goal", className + "Goal");
// Action Result
symbolTable.Add("action_result", className + "Result");
//Action Feedback
symbolTable.Add("action_feedback", className + "Feedback");
// Write default value constructor
writer.Write("\n");
writer.Write(GenerateDefaultValueConstructor(className) + "\n");
writer.Write(GenerateDeserializerConstructor(className, false) + "\n");
writer.Write(GenerateSerializationStatements(type));
// Close class
writer.Write(ONE_TAB + "}\n");
// Close namespace
writer.Write("}\n");
}
}